OPTICAL NAVIGATION SENSOR - Incorporating Vehicle Dynamics Information in Mapmaking

Abstract

Accurate odometry and navigation may well be the most important tasks of a mobile robot's control system. To solve this task it is necessary to utilize proper sensors which provide reliable information about the motion. This paper presents the prototype of an optical navigation sensor which can be an alternative choice for the dead reckoning navigation system of a vehicle or mobile robot. The last part of the paper presents another application in an inertial navigation system that enables a new approach to map making which incorporates vehicle dynamics into the world map.